/wall_follow action server request should allow max_translate, max_rotate parameters

[slowrunner]

The /wall_follow action server operates at a frantic pace, rotating at max angular speed and translating at max forward speed, causing multiple bumper stops and backups.

I would like to be able to set an optional max_translate and max_rotate parameters in the request to "tame" the wall_follow action.

BTW, I believe that the wall_follow action is one of the most important "required functions" of any commercial or educational robot platform. The inclusion of the IR intensity sensors and bumper not only protect the robot, they enable the wall follow action - major differentiators in the "under $500 educational robot platform" offerings in the market. These functions enable students to learn ROS and use the Create3 without the immediate need for a LIDAR. LIDARs are great, but add expense, wiring complexity, programming complexity, and entice noobs to skip over ROS fundamentals and learning ROS programming in their rush to mapping, localization and navigation. Just saying.

This is my follow_wall CLI script:

$ more cmds/follow_wall.sh 
#!/bin/bash

usage="\n*** USAGE: cmds/follow_wall.sh left|right nSeconds ***\n"

if [ "$#" -ne 2 ] ;
    then echo -e $usage
         exit
fi

if [ $1 == "left" ] ;
    then dir=1
    else if [ $1 == "right" ] ;
            then dir=-1
            else echo -e $usage
            exit
         fi
fi

echo -e "Wall Follow ${1} for ${2} seconds"

ros2 action send_goal /wall_follow irobot_create_msgs/action/WallFollow "{follow_side: ${dir}, max_runtime: {sec: ${2}, nanosec: 0}}"

[slowrunner]

Implementation left to the courageous using the sim examples